A real-time underwater object detection algorithm for multi-beam forward looking sonar

Enric Galceran, Vladimir Djapic, Marc Carreras, David P. Williams

Research output: Chapter in Book/Report/Conference proceedingConference contribution

62 Scopus citations

Abstract

A novel algorithm for the detection of underwater man-made objects in forward-looking sonar imagery is proposed. The algorithm takes advantage of the integral-image representation to quickly compute features, and progressively reduces the computational load by working on smaller portions of the image along the detection process phases. By adhering to the proposed scheme, real-time detection on sonar data onboard an autonomous vehicle is made possible. The proposed method does not require training data, as it dynamically takes into account environmental characteristics of the sensed sonar data. The proposed approach has been implemented and integrated into the software system of the Gemellina autonomous surface vehicle, and is able to run in real time. The validity of the proposed approach is demonstrated on real experiments carried out at sea with the Gemellina autonomous surface vehicle.

Original languageEnglish (US)
Title of host publicationIFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
PublisherIFAC Secretariat
Pages306-311
Number of pages6
EditionPART 1
ISBN (Print)9783902823199
DOIs
StatePublished - 2012
Event3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012 - Porto, Portugal
Duration: Apr 10 2012Apr 12 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume3
ISSN (Print)1474-6670

Conference

Conference3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Country/TerritoryPortugal
CityPorto
Period4/10/124/12/12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Fingerprint

Dive into the research topics of 'A real-time underwater object detection algorithm for multi-beam forward looking sonar'. Together they form a unique fingerprint.

Cite this